Robust motion/force control of mechanical systems with classical nonholonomic constraints.
Chun-Yi SuYury StepanenkoPublished in: IEEE Trans. Autom. Control. (1994)
Keyphrases
- mechanical systems
- motion planning
- force control
- control law
- kinematic model
- mobile robot
- trajectory planning
- degrees of freedom
- kinematic constraints
- humanoid robot
- path planning
- robot manipulators
- motion analysis
- image sequences
- motion estimation
- motion model
- physical constraints
- closed loop
- optical flow
- multi modal
- inverse kinematics
- gait analysis
- control system
- moving objects
- manufacturing process
- position and orientation
- multi robot
- control strategy